CN115402305B

CN115402305B - Torque compensation method, device, storage medium and electronic device

Info

Publication number: CN115402305B
Application number: CN202211352802.XA
Authority: CN
Inventors: 周枫; 刘斌; 吴杭哲; 刘枫; 丁振坤; 王野; 曹燕; 李伟男; 于欣彤; 孟祥哲
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2022-11-01
Filing date: 2022-11-01
Publication date: 2023-02-03
Anticipated expiration: 2042-11-01
Also published as: CN115402305A

Abstract

The invention discloses a torque compensation method and device, a storage medium and an electronic device, and relates to the technical field of vehicles. Wherein, the method comprises the following steps: acquiring first information of a vehicle, second information of an obstacle and third information of a road; determining an avoidance direction according to the first information, the second information and the third information; determining a plurality of initial avoidance tracks according to the first information, the second information, the third information and the avoidance direction; performing collision detection on the multiple initial avoidance tracks to obtain target avoidance tracks; and determining a torque compensation value according to the first information and the target avoidance track, wherein the torque compensation value is used for assisting the vehicle to steer. The torque compensation device, the computer readable storage medium, and the electronic device are configured to perform the aforementioned torque compensation method. The invention solves the technical problem that the related technology can not timely trigger the forward collision early warning and automatic emergency braking system because the obstacle can not be timely sensed, thereby causing collision with the obstacle.

Description

Torque compensation method, device, storage medium and electronic device

Technical Field

The invention relates to the technical field of vehicles, in particular to a torque compensation method, a torque compensation device, a torque compensation storage medium and an electronic device.

Background

During the running of the vehicle, the driver often turns the vehicle in an emergency in order to avoid collision with an obstacle. At present, a Forward Collision Warning (FCW) system and an Automatic Emergency Braking (AEB) system can sense an obstacle and assist a driver in avoiding or reducing a Collision, but when the obstacle suddenly appears or the obstacle is sensed to be late, the FCW system and the AEB system cannot be triggered in time, so that the vehicle misses a latest steering time point and then collides with the obstacle. Particularly, when the obstacle is a Vulnerable Road User (VRU), if the vehicle collides with the VRU, the VRU will be seriously damaged.

Disclosure of Invention

The embodiment of the invention provides a torque compensation method, a torque compensation device, a storage medium and an electronic device, which at least solve the technical problem that in the related art, a forward collision early warning and an automatic emergency braking system cannot be triggered in time to cause collision with an obstacle due to the fact that the obstacle cannot be sensed in time.

According to an embodiment of the present invention, there is provided a torque compensation method including:

acquiring first information of a vehicle, second information of an obstacle and third information of a road, wherein the road comprises the road where the vehicle is located; determining an avoidance direction according to the first information, the second information and the third information, wherein the avoidance direction is a transverse moving direction of the vehicle, and the transverse moving direction is a direction perpendicular to a vehicle advancing direction; determining a plurality of initial avoidance tracks according to the first information, the second information, the third information and the avoidance direction, wherein the avoidance tracks are used for representing the moving tracks of the vehicle for avoiding the obstacles; performing collision detection on the multiple initial avoidance tracks to obtain target avoidance tracks; and determining a torque compensation value according to the first information and the target avoidance track, wherein the torque compensation value is used for assisting the vehicle to steer.

Optionally, the determining the avoidance direction according to the first information, the second information, and the third information includes: determining the driving behavior of the vehicle according to the first information, the second information and the third information; and determining that the transverse moving direction of the vehicle is an avoidance direction in response to the driving behavior meeting a preset condition, wherein the preset condition is used for indicating that the vehicle has a behavior of avoiding the obstacle.

Optionally, determining a plurality of initial avoidance tracks according to the first information, the second information, the third information, and the avoidance direction includes: determining an avoidance area according to the first information, the second information and the third information, wherein the avoidance area is used for indicating that the vehicle avoids a driving area of the barrier; determining avoidance position information according to the first information and the avoidance area, wherein the avoidance position information is used for indicating position information of the vehicle after avoiding the obstacle; and determining a plurality of initial avoidance tracks according to the first information and the avoidance position information, wherein the plurality of initial avoidance tracks are positioned in an avoidance area.

Optionally, performing collision detection on a plurality of initial avoidance tracks, and obtaining a target avoidance track includes: determining a plurality of sampling points in the plurality of initial avoidance tracks according to a preset time interval; performing collision detection on the plurality of sampling points to obtain a plurality of target sampling points, wherein the target sampling points are used for representing the sampling points at which the vehicle and the obstacle do not collide; and screening the plurality of initial avoidance tracks according to the plurality of target sampling points to obtain target avoidance tracks, wherein the sampling points in the target avoidance tracks are all target sampling points.

Optionally, determining the torque compensation value according to the first information and the target avoidance trajectory includes: determining target position information of the vehicle according to the first information, wherein the target position information is used for representing position information of the vehicle running according to the target avoidance track; in response to the fact that the target position information is located in a first preset range or a second preset range of the target avoidance track, determining a torque compensation value according to the first information and a proportional, integral and derivative control method, wherein the first preset range is used for indicating that a steering wheel of a vehicle is in a forward torque application stage, and the second preset range is used for indicating that the steering wheel is in a reverse torque application stage; and determining the torque compensation value to be zero in response to the target position information being in a third preset range of the target avoidance track, wherein the third preset range is used for indicating that the steering wheel is in a torque direction change stage.

Optionally, determining the torque compensation value according to the first information and the proportional, integral, and derivative control method comprises: determining a target torque value according to a proportional, integral and derivative control method, wherein the target torque value is used for representing a torque value required by the vehicle to avoid the obstacle; determining the steering wheel torque of the vehicle according to the first information, wherein the steering wheel torque is used for representing the torque value of the vehicle for driving according to the target avoidance track; in response to the target torque value being greater than the steering wheel torque, determining a torque compensation value as a difference between the target torque value and the steering wheel torque; in response to the target torque value being less than or equal to the steering wheel torque, the torque compensation value is determined to be zero.

Optionally, the first information includes first position information, first speed information, first shape information, automatic emergency braking information, steering wheel information, and turn signal information of the vehicle, the second information includes second position information, second speed information, and second shape information of the obstacle, and the third information includes description information of the road, and the description information includes lane line information or road edge information.

There is also provided, in accordance with an embodiment of the present invention, a torque compensation apparatus, including:

the acquisition module is used for acquiring first information of a vehicle, second information of an obstacle and third information of a road, wherein the road comprises the road where the vehicle is located; the determining module is used for determining an avoidance direction according to the first information, the second information and the third information, wherein the avoidance direction is a transverse moving direction of the vehicle, and the transverse moving direction is a direction perpendicular to the advancing direction of the vehicle; the determining module is further used for determining a plurality of initial avoidance tracks according to the first information, the second information, the third information and the avoidance direction, wherein the avoidance tracks are used for representing the movement tracks of the vehicles for avoiding the obstacles; the detection module is used for carrying out collision detection on the multiple initial avoidance tracks to obtain target avoidance tracks; and the compensation module is used for determining a torque compensation value according to the first information and the target avoidance track, wherein the torque compensation value is used for assisting the vehicle to steer.

Optionally, the determining module is further configured to determine a driving behavior of the vehicle according to the first information, the second information and the third information; and determining that the transverse moving direction of the vehicle is an avoidance direction in response to the driving behavior meeting a preset condition, wherein the preset condition is used for indicating that the vehicle has a behavior of avoiding the obstacle.

Optionally, the determining module is further configured to determine an avoidance area according to the first information, the second information, and the third information, where the avoidance area is used to indicate a driving area where the vehicle avoids the obstacle; determining avoidance position information according to the first information and the avoidance area, wherein the avoidance position information is used for indicating position information of the vehicle after avoiding the obstacle; and determining a plurality of initial avoidance tracks according to the first information and the avoidance position information, wherein the plurality of initial avoidance tracks are located in an avoidance area.

Optionally, the detection module is further configured to determine a plurality of sampling points in the plurality of initial avoidance tracks according to a preset time interval; performing collision detection on the plurality of sampling points to obtain a plurality of target sampling points, wherein the target sampling points are used for representing the sampling points at which the vehicle and the obstacle do not collide; and screening the plurality of initial avoidance tracks according to the plurality of target sampling points to obtain target avoidance tracks, wherein the sampling points in the target avoidance tracks are all target sampling points.

Optionally, the compensation module is further configured to determine target position information of the vehicle according to the first information, where the target position information is used to indicate position information of the vehicle traveling according to the target avoidance track; in response to the target position information being located in a first preset range or a second preset range of the target avoidance track, determining a torque compensation value according to the first information and a proportional, integral and derivative control method, wherein the first preset range is used for indicating that a steering wheel of the vehicle is in a forward torque application stage, and the second preset range is used for indicating that the steering wheel is in a reverse torque application stage; and determining the torque compensation value to be zero in response to the target position information being in a third preset range of the target avoidance track, wherein the third preset range is used for indicating that the steering wheel is in a torque direction change stage.

Optionally, the compensation module is further configured to determine a target torque value according to a proportional, integral and derivative control method, wherein the target torque value is used to represent a torque value required by the vehicle to avoid the obstacle; determining the steering wheel torque of the vehicle according to the first information, wherein the steering wheel torque is used for representing the torque value of the vehicle running according to the target avoidance track; in response to the target torque value being greater than the steering wheel torque, determining a torque compensation value as a difference between the target torque value and the steering wheel torque; in response to the target torque value being less than or equal to the steering wheel torque, the torque compensation value is determined to be zero.

According to an embodiment of the present invention, there is further provided a computer-readable storage medium having a computer program stored therein, wherein the computer program is configured to perform the torque compensation method of any one of the above when run on a computer or a processor.

There is also provided, in accordance with an embodiment of the present invention, an electronic device, including a memory and a processor, the memory storing a computer program therein, the processor being configured to execute the computer program to perform the torque compensation method in any one of the above.

In the embodiment of the invention, the first information of the vehicle, the second information of the obstacle and the third information of the road are acquired, wherein the road comprises the road where the vehicle is located; determining an avoidance direction according to the first information, the second information and the third information, wherein the avoidance direction is a transverse moving direction of the vehicle, and the transverse moving direction is a direction perpendicular to a vehicle advancing direction; determining a plurality of initial avoidance tracks according to the first information, the second information, the third information and the avoidance direction, wherein the avoidance tracks are used for representing the moving tracks of the vehicle for avoiding the obstacles; performing collision detection on the multiple initial avoidance tracks to obtain target avoidance tracks; and determining a torque compensation value according to the first information and the target avoidance track, wherein the torque compensation value is used for assisting the vehicle to steer. By adopting the method, whether the driver has the steering intention or not is judged according to the related information of the vehicle, the barrier and the road, so that the avoidance direction and the initial avoidance tracks are determined, and the target avoidance track and the torque compensation value are determined by performing collision detection on the initial avoidance tracks. The purpose of assisting the driver to turn to when the driver has the intention of turning to is reached, thereby the technical effect of assisting the driver to finish the turning action under the emergency braking condition is realized, the technical effect of avoiding colliding with the barrier is avoided, the success rate of turning to avoid the barrier is improved, in addition, the technical effect of assisting the driver to return to a positive steering wheel can also be realized, and further, the technical problem that the related technology collides with the barrier because the barrier can not be sensed in time is solved, thereby the front collision early warning and the automatic emergency braking system can not be triggered in time, and the collision with the barrier is caused.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

FIG. 1 is a flow chart of a torque compensation method according to one embodiment of the present invention;

FIG. 2 is a schematic illustration of an avoidance zone according to one embodiment of the present invention;

FIG. 3 is a schematic illustration of avoidance position information according to one embodiment of the present invention;

FIG. 4 is a schematic illustration of collision detection according to one embodiment of the present invention;

FIG. 5 is a schematic illustration of a torque compensation state according to one embodiment of the present invention;

FIG. 6 is a schematic diagram of a system architecture according to one embodiment of the present invention;

fig. 7 is a block diagram of a torque compensation apparatus according to an embodiment of the present invention.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

In accordance with one embodiment of the present invention, there is provided an embodiment of a torque compensation method, wherein the steps illustrated in the flowchart of the drawings may be performed in a computer system, such as a set of computer-executable instructions, and wherein, although a logical ordering is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different than that illustrated herein.

The method embodiments may be performed in an electronic device, similar control device or system, comprising a memory and a processor. Taking an electronic device as an example, the electronic device may include one or more processors and memory for storing data. Optionally, the electronic apparatus may further include a communication device for a communication function and a display device. It is understood by those skilled in the art that the above structural description is only illustrative and not restrictive on the structure of the electronic device. For example, the electronic device may also include more or fewer components than described above, or have a different configuration than described above.

A processor may include one or more processing units. For example: the processor may include a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), a Digital Signal Processing (DSP) chip, a Microprocessor (MCU), a field-programmable gate array (FPGA), a neural Network Processor (NPU), a Tensor Processing Unit (TPU), an Artificial Intelligence (AI) type processor, and the like. Wherein the different processing units may be separate components or may be integrated in one or more processors. In some examples, the electronic device may also include one or more processors.

The memory may be used to store a computer program, for example, a computer program corresponding to the torque compensation method in the embodiment of the present invention, and the processor may implement the torque compensation method by operating the computer program stored in the memory. The memory may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory may further include memory remotely located from the processor, which may be connected to the electronic device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

Communication devices are used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the communication device includes a network adapter (NIC) that can be connected to other network devices through a base station to communicate with the internet. In one example, the communication device may be a Radio Frequency (RF) module for communicating with the internet by wireless.

The display device may be, for example, a touch screen type Liquid Crystal Display (LCD) and a touch display (also referred to as a "touch screen" or "touch display screen"). The liquid crystal display may enable a user to interact with a user interface of the mobile terminal. In some embodiments, the mobile terminal has a Graphical User Interface (GUI) with which a user can interact by touching finger contacts and/or gestures on a touch-sensitive surface, where the man-machine interaction function optionally includes the following interactions: executable instructions for creating web pages, drawing, word processing, making electronic documents, games, video conferencing, instant messaging, emailing, talking interfaces, playing digital video, playing digital music, and/or web browsing, etc., and for performing the above-described human-computer interaction functions, are configured/stored in one or more processor-executable computer program products or readable storage media.

In the present embodiment, a torque compensation method for an electronic device is provided, and fig. 1 is a flowchart of the torque compensation method according to an embodiment of the present invention, as shown in fig. 1, the flowchart includes the following steps:

and S101, acquiring first information of the vehicle, second information of the obstacle and third information of the road.

Wherein the road includes a road on which the vehicle is located.

The vehicle may be understood as a driver's own vehicle that is driven, and the first information includes first position information, first speed information, first shape information, automatic emergency braking information (AEB information), steering wheel information, and turn signal information of the vehicle. The first position information is used for representing the position of the vehicle, the first speed information is used for representing the speed of the vehicle and comprises the transverse speed, the longitudinal speed, the acceleration speed, the deceleration speed and the like of the vehicle, the first shape information is used for representing the shape or the volume of the vehicle and comprises the width information, the length information and the like of the vehicle, the AEB information is used for representing the triggering condition of an AEB system, the steering wheel information comprises the steering wheel angle, the steering wheel rotating speed and the steering wheel torque of the vehicle, and the steering lamp information comprises the turn-off state of a steering lamp and the indication direction of the steering lamp.

An obstacle is understood to be any object that impedes the travel of the vehicle in its path of travel, including motor vehicles, non-motor vehicles, pedestrians, etc. The second information includes second position information, second velocity information, and second shape information of the obstacle. The second position information is used for representing the position of the obstacle, the second speed information is used for representing the vehicle speed of the obstacle and comprises the transverse speed, the longitudinal speed, the acceleration, the deceleration and the like of the obstacle, and the second shape information is used for representing the shape or the volume of the obstacle and comprises the width information, the length information and the like of the obstacle. It is to be understood that the barrier may comprise one or more barriers, and the invention is not limited thereto.

The road may be understood as a road on which the vehicle travels and a road around, and the third information includes description information of the road and travelable region information. The description information includes lane line information or road edge information, and it can be understood that if a vehicle runs on a road with a lane line, the description information is lane line information, the lane line information specifically includes lane width, lane line equation, and the like, and the lane line may include a lane line adjacent to or not adjacent to the vehicle. If the vehicle runs on a road without a lane line, the description information is road edge information, and the road edge information specifically comprises road edge types, description equations of road edges and the like. The travelable region information is information indicating a vehicle usability region, that is, region information that is understood as a region around the vehicle where there is no obstacle, and specifically, may be represented by a farthest coordinate point, which is not limited herein.

For example, the first information of the vehicle, the second information of the obstacle and the third information of the road may be obtained through a vehicle sensor, a road-side camera device and a positioning system, which is not limited by the present invention.

And S102, determining an avoidance direction according to the first information, the second information and the third information.

The avoiding direction is the transverse moving direction of the vehicle, and the transverse moving direction is the direction perpendicular to the advancing direction of the vehicle.

Because the conventional FCW system and AEB system cannot accurately detect the suddenly appearing obstacles around the vehicle, the system cannot assist the driver in steering when the driver turns the steering wheel urgently. And determining whether the driver has the intention of emergency steering according to the first information, the second information and the third information, and if the driver has the intention of emergency steering, determining the direction in which the driver intends to emergency steering according to the information, namely determining the avoidance direction for avoiding the obstacle by the driver.

The avoidance direction is the transverse moving direction of the vehicle, so that a target lane or a target area which a driver wants to turn to in an emergency can be determined according to the transverse moving direction, and the driver can be assisted to safely finish the avoidance action.

It will be appreciated that if it is determined that the driver does not have the intent to steer urgently, this is an indication that there are no sudden obstacles in the course of travel and therefore no urgent steering is required and no torque compensation is required.

Step S103, determining a plurality of initial avoidance tracks according to the first information, the second information, the third information and the avoidance direction.

The avoidance track is used for representing the moving track of the vehicle avoiding the obstacle.

According to the first information, the second information, the third information and the avoidance direction, a plurality of initial avoidance tracks of the vehicle for safely avoiding the obstacle, namely a plurality of moving tracks of the vehicle for safely avoiding the obstacle can be determined in a target lane or a target area which the driver wants to turn to in an emergency.

Specifically, the plurality of initial avoidance tracks may be understood as a plurality of moving tracks in which the vehicle can successfully avoid the obstacle at the current time or in the driving state, and as time or the driving state of the vehicle and surrounding obstacles changes, an avoidance track which may collide with the obstacle may exist in the plurality of initial avoidance tracks, so that collision detection needs to be performed on the plurality of initial avoidance tracks.

And step S104, performing collision detection on the plurality of initial avoidance tracks to obtain target avoidance tracks.

Since there may be an avoidance trajectory that may collide with the obstacle in the plurality of initial avoidance trajectories, collision detection needs to be performed on the plurality of initial avoidance trajectories.

Specifically, it may be detected whether each initial collision trajectory is collided at each time point, so that the initial collision trajectory in which no collision occurs at all time points is taken as a target avoidance trajectory. The vehicle runs according to the target avoiding track, can safely avoid obstacles, and completes emergency steering.

And S105, determining a torque compensation value according to the first information and the target avoidance track.

Wherein the torque compensation value is used to assist the vehicle in steering.

When determining the avoidance track of the avoidance obstacle, the driver cannot accurately determine the safest avoidance track, that is, the target avoidance track cannot be accurately determined, so that the steering wheel torque of the driver currently steering the steering wheel is determined through the first information of the vehicle, and the target torque value required by the vehicle to travel according to the target avoidance track is determined through a proportional, integral and derivative (PID) control method, so that the torque compensation value can be obtained according to the steering wheel torque of the vehicle and the required target torque value, and is used for assisting the vehicle to steer, thereby realizing the technical effects of assisting the vehicle to travel according to the target avoidance track and safely avoiding the obstacle.

Through the steps, the first information of the vehicle, the second information of the obstacle and the third information of the road are obtained, wherein the road comprises the road where the vehicle is located; determining an avoidance direction according to the first information, the second information and the third information, wherein the avoidance direction is a transverse moving direction of the vehicle, and the transverse moving direction is a direction perpendicular to a vehicle advancing direction; determining a plurality of initial avoidance tracks according to the first information, the second information, the third information and the avoidance direction, wherein the avoidance tracks are used for representing the moving tracks of the vehicle for avoiding the obstacles; performing collision detection on the multiple initial avoidance tracks to obtain target avoidance tracks; and determining a torque compensation value according to the first information and the target avoidance track, wherein the torque compensation value is used for assisting the vehicle to steer. By adopting the method, whether the driver has the steering intention or not is judged according to the related information of the vehicle, the barrier and the road, so that the avoidance direction and the initial avoidance tracks are determined, and the target avoidance track and the torque compensation value are determined by performing collision detection on the initial avoidance tracks. The purpose of assisting the driver to turn to when the driver has the intention of turning to is reached, thereby the technical effect of assisting the driver to finish the turning action under the emergency braking condition is realized, the technical effect of avoiding colliding with the barrier is avoided, the success rate of turning to avoid the barrier is improved, in addition, the technical effect of assisting the driver to return to a positive steering wheel can also be realized, and further, the technical problem that the related technology collides with the barrier because the barrier can not be sensed in time is solved, thereby the front collision early warning and the automatic emergency braking system can not be triggered in time, and the collision with the barrier is caused.

Optionally, in step S102, determining the avoidance direction according to the first information, the second information, and the third information may include the following steps:

and step S102a, determining the driving behavior of the vehicle according to the first information, the second information and the third information.

And S102b, responding to the situation that the driving behavior meets the preset condition, and determining that the transverse moving direction of the vehicle is the avoidance direction.

The preset condition is used for indicating that the vehicle has behavior of avoiding the obstacle.

Since the driver often takes a series of measures to avoid collision with the obstacle when the obstacle suddenly appears in the driving area where the driver drives the vehicle, the driving behavior of the driver taking the measures can be reflected by the first information, the second information, and the third information. For example, if it is determined that the time to collision between the vehicle and the obstacle is less than the time to collision threshold, it can be indicated that the obstacle suddenly appears within the traveling region of the vehicle. If the steering wheel torque of the vehicle is greater than the steering wheel torque threshold value, it can be indicated that an obstacle suddenly appears in the driving area of the vehicle, so that the driver quickly turns the steering wheel to avoid the collision. If the turn signal of the vehicle is in an off state or the indication direction of the turn signal is opposite to the lateral movement direction of the vehicle, it can indicate that an obstacle suddenly appears in the driving area of the vehicle, so that the driver does not have time to turn on the turn signal or switch the indication direction of the turn signal when turning. If there is no obstacle in the target lane or target area to which the vehicle is steered (i.e., the target lane or target area to which the driver wants to turn urgently), it can indicate that there is an obstacle suddenly appearing in the traveling area of the vehicle, so that the driver intends to steer the vehicle to travel to the target lane or target area without the obstacle.

When the driving behavior of the vehicle determined according to the first information, the second information and the third information meets the preset condition, which is equivalent to the driving behavior of the vehicle determined according to the first information, the second information and the third information and meets the driving behavior taken by the driver, namely, the driving behavior can represent that an obstacle suddenly appears in the driving area of the vehicle, and the driver intends to avoid collision with the obstacle through urgent steering, so that the vehicle can be assisted to steer by executing the torque compensation method provided by the embodiment of the invention.

Specifically, by determining information such as the collision time between the vehicle and the obstacle, the collision time threshold, the steering wheel torque of the vehicle, the steering wheel torque threshold, the steering wheel speed of the vehicle, the steering wheel speed threshold, the turn-off state of the turn lights of the vehicle or the relation between the indication direction of the turn lights and the lateral movement direction of the vehicle, and whether there is an obstacle in the target lane or the target area where the vehicle intends to turn, it is possible to determine whether the driver of the vehicle intends to turn, i.e., whether emergency turning is required.

When determining whether the obstacle is an obstacle influencing the normal running of the vehicle, namely determining whether the obstacle appears and requires the vehicle to make an emergency steering, the running areas of the vehicle and the obstacle in a future preset time period (for example, within 3 seconds) can be calculated through a kinematic equation of the vehicle, and whether the running areas of the vehicle and the obstacle in the future preset time period are overlapped is determined, so that whether the obstacle is the obstacle influencing the normal running of the vehicle is determined.

When determining the collision time between the vehicle and the obstacle and the collision time threshold, the relative distance D between the vehicle and the obstacle can be determined according to the first position information in the first information and the second position information in the second information _re . According to the first speed information in the first information and the second speed information in the second information, the relative speed V between the vehicle and the obstacle can be determined _re . According to the relative distance D between the vehicle and the obstacle _re And relative velocity V _re A Time To Collision (TTC) between the vehicle and the obstacle can be determined, in particular TTC = D _re /V _re . A time-to-collision threshold can be determined from the first speed information in the first information, in particular time-to-collision threshold = a ₀ V _ego +b ₀ Wherein V is _ego Is the speed of the vehicle, a ₀ And b ₀ For variable parameters, a can be adjusted according to different models of vehicles when determining the time threshold for collision ₀ And b ₀ 。

When determining the steering wheel torque of the vehicle and the steering wheel torque threshold value, the steering wheel torque of the vehicle can be determined from the steering wheel information in the first information, and the steering wheel torque threshold value can be determined from the first speed information in the first information, in particular, the steering wheel torque threshold value = a ₁ V _ego +b ₁ Wherein a is ₁ And b ₁ For variable parameters, when determining the steering wheel torque threshold, a can be adjusted according to different models of the vehicle ₁ And b ₁ 。

When determining a steering wheel speed and a steering wheel speed threshold of the vehicle, the steering wheel speed of the vehicle can be determined from the steering wheel information in the first information, and the steering wheel speed threshold can be determined from the first speed information in the first information, in particular, steering wheel speed threshold = a ₂ V _ego +b ₂ Wherein a is ₂ And b ₂ For variable parameters, when determining the steering wheel speed threshold, a can be adjusted according to different models of vehicles ₂ And b ₂ 。

When the relation between the turn-off state of the turn light of the vehicle or the indication direction of the turn light and the transverse moving direction of the vehicle is determined, the turn-off state of the turn light of the vehicle and the indication direction of the turn light can be determined according to the turn light information in the first information, wherein the turn-off state of the turn light comprises that the turn light is in an open state or a closed state, and the indication direction of the turn light comprises that the turn light indicates to the left or to the right. The vehicle lateral movement direction of the vehicle can be determined from the steering wheel information in the first information, wherein the vehicle lateral movement direction of the vehicle includes left movement or right movement. The relation between the indication direction of the steering lamp and the transverse moving direction of the vehicle can be determined according to the indication direction of the steering lamp and the transverse moving direction of the vehicle, wherein the relation comprises that the indication direction of the steering lamp is the same as the transverse moving direction of the vehicle or the indication direction of the steering lamp is opposite to the transverse moving direction of the vehicle.

When determining whether there is an obstacle or the like in a target lane or a target area to which a vehicle intends to turn, a target lane or a target area to which a driver intends to turn urgently can be determined based on first position information, first speed information, steering wheel information in the first information, and lane line information or road edge information in the third information, wherein the target lane can be determined based on the lane line information when there is a lane line in the road, the target area can be determined based on the first speed information when there is no lane line in the road, and target area = a ₃ V _ego +b ₃ ，a ₃ And b ₃ For variable parameters, a can be adjusted according to different vehicle types of vehicles when determining the target area ₃ And b ₃ Generally a ₃ May take 3 seconds, the invention is not limited. Whether an obstacle exists in the target lane or the target area can be determined according to the second position information in the second information and the lane line information or the road edge information in the third information.

For example, when the driving behavior of the vehicle determined according to the first information, the second information, and the third information simultaneously satisfies five conditions that the collision time between the vehicle and the obstacle is less than the collision time threshold, the steering wheel torque of the vehicle is greater than the steering wheel torque threshold, the steering wheel speed of the vehicle is greater than the steering wheel speed threshold, the turn signal of the vehicle is in an off state or the indication direction of the turn signal is opposite to the lateral direction of the vehicle, and the obstacle is not present in the target lane or the target area where the vehicle turns (i.e., the target lane or the target area where the driver wants to turn urgently), it indicates that the driver of the vehicle intends to turn urgently, and thus the lateral direction of the vehicle determined according to the steering wheel information in the first information is determined as the avoidance direction of the vehicle.

Optionally, in step S103, determining a plurality of initial avoidance tracks according to the first information, the second information, the third information and the avoidance direction may include the following steps:

step S103a, determining an avoidance area according to the first information, the second information and the third information.

The avoidance area is used for showing a driving area of the vehicle for avoiding the obstacle.

And determining an initial avoidance area according to the avoidance direction, the first position information in the first information, the second position information in the second information and the travelable area information in the third information. Specifically, the position of a first obstacle closest to the vehicle in the longitudinal moving direction (namely the driving direction of the vehicle) in a target lane or a target area which is intended to be steered by the driver is determined according to the avoidance direction, the first position information and the second position information, and the vehicle and the first obstacle are determinedLongitudinal distance between obstacles, denoted S _l The S of _l Which may be understood as the length of the initial avoidance region. And determining the position of a second obstacle closest to the vehicle or the position of a road edge closest to the vehicle in the vehicle avoiding direction (namely the transverse moving direction of the vehicle), and determining the transverse distance between the vehicle and the second obstacle or the transverse distance between the vehicle and the road edge, which is recorded as S _w S of the _w Which may be understood as the width of the initial avoidance region.

And fusing the initial avoidance area and the travelable area according to the information of the initial avoidance area and the travelable area in the third information, determining a superposed area between the initial avoidance area and the travelable area, and determining the superposed area as an avoidance area for the vehicle to avoid the obstacle.

For example, as shown in fig. 2, fig. 2 is a schematic diagram of an avoidance area according to an embodiment of the present invention, fig. 2 includes a vehicle and three obstacles around the vehicle, and a travelable area of the vehicle is shown in fig. 2, and all areas capable of avoiding the obstacles in a vehicle traveling direction belong to the travelable area of the vehicle. Taking the avoidance direction intended to be selected by the driver as the direction in which the vehicle moves leftward as an example, that is, the direction in which the vehicle moves leftward is the lateral moving direction of the vehicle. An initial avoidance area can be determined according to the avoidance direction of the vehicle, the first information, the second information and the third information, and the length of the initial avoidance area is the longitudinal distance S between a first obstacle closest to the vehicle and the vehicle in the driving direction of a target lane to which a driver intends to steer and the vehicle _l The width of the initial avoidance area is the transverse distance S between the road edge closest to the vehicle and the vehicle in the transverse moving direction of the vehicle _w Therefore, the initial avoidance area of the vehicle can be determined. The drivable area and the initial avoidance area are fused to obtain a final avoidance area, and fig. 2 illustrates that the initial avoidance area is in the drivable area, so that the finally obtained avoidance area is the same as the initial avoidance area.

And S103b, determining avoidance position information according to the first information and the avoidance area.

The avoidance position information is used for indicating position information after the vehicle avoids the obstacle.

As shown in fig. 3, fig. 3 is a schematic diagram of avoidance position information according to an embodiment of the present invention, a first coordinate system is established at a position of a vehicle by taking a road-following direction as an x-axis and a lateral moving direction of the vehicle as a Y-axis, a lateral reference line is determined according to the first information and an avoidance area, the lateral reference line is parallel to a driving direction of the vehicle, and the lateral reference line can be understood as a reference line which continues to drive in the driving direction in the avoidance area after the vehicle turns, and is marked as Y _end . Specifically, a transverse reference line Y is determined according to first speed information, first shape information and the width of an avoidance region in the first information _end If S is _w <W _ego +W ₁ Denotes that collision cannot be avoided, and therefore torque compensation is not performed, and the execution of the torque compensation method is ended, wherein W _ego Indicating the width of the vehicle, W ₁ =a ₄ V _ego +b ₄ ，W ₁ Indicating a preset width for ensuring that the vehicle can safely complete the steering, a ₄ And b ₄ For variable parameters, in determining W ₁ In time, a can be adjusted according to different types of vehicles ₄ And b ₄ . If S _w >W _ego +W ₁ Then determine the transverse reference line Y _end =0.5×（W _ego +W ₁ ）。

Determining that the vehicle steering completion moment is on the transverse reference line Y according to the first information _end The corresponding position interval can be understood as that the vehicle enters the transverse reference line Y _end The vertical coordinate interval of (A) is marked as [ X ] _start ，X _end ]Wherein X is _start Indicating that the vehicle has driven onto the transverse reference line Y _end Minimum ordinate, X of _end Indicating that the vehicle has driven onto the transverse reference line Y _end The maximum ordinate of (c). Wherein, X _start =a ₅ V _ego +b ₅ ，a ₅ And b ₅ For variable parameters, in determining X _start In time, a can be adjusted according to different types of vehicles ₅ And b ₅ ，X _end =X _start +X _len ，X _len The length of the automobile steering wheel is preset, the automobile steering wheel can safely complete steering, and the length of the automobile steering wheel can be adjusted according to different automobile types.

It will be appreciated that reference is made to the transverse reference line Y _end And the ordinate interval [ X _start ，X _end ]The position information of the vehicle after the steering and the avoiding can be determined, and the avoiding position information can be understood to comprise the transverse reference line Y _end And the vehicle enters the transverse reference line Y _end Upper ordinate interval [ X ] _start ，X _end ]。

And step S103c, determining a plurality of initial avoidance tracks according to the first information and the avoidance position information.

Wherein the plurality of initial avoidance tracks are located in an avoidance region.

As shown in fig. 3, a second coordinate system is established with the vehicle itself as an origin, and the second coordinate system takes the vehicle forward direction as an x 'axis and a direction perpendicular to the vehicle forward direction as a y' axis. At a fixed interval (e.g., 1 m) in the second coordinate system on the transverse reference line Y _end Upper ordinate interval [ X ] _start ，X _end ]A plurality of first sample points (only one first sample point is shown in FIG. 3) are taken, and the ordinate of the first sample point is denoted as X _select . Generating a plurality of initial avoidance tracks according to a fourth-order Bezier curve, wherein the end point is at X _end Marking the initial avoidance track as a first initial avoidance track, and sequentially marking the initial avoidance track as a transverse reference line Y according to the end point _end The vertical coordinate on the upper part records other initial avoidance tracks in the sequence from large to small, and the end point is positioned at X _start And recording the initial avoidance track as the nth initial avoidance track, wherein n is an integer larger than 0.

The fourth order bezier curve may be expressed as P (a) = P ₀ (1-a) ⁴ +4P ₁ (1-a) ³ a+6P ₂ (1-a) ² a ² +4P ₃ (1-a)a ³ +P ₄ a ⁴ Wherein, a \1013]Parameter, P, representing a fourth order Bezier curve ₀ For indicating the coordinates of the vehicle itself, i.e. P ₀ The point coordinates are (0, 0), P ₁ Point, P ₂ Point sum P ₃ Points are represented in the ordinate interval [ X ] _start ，X _end ]Coordinates of the taken 3 first sample points (only the taken 3 first sample points are taken as an example), P ₄ Points for indicating entry into the transverse reference line Y _end I.e. the end of the initial avoidance trajectory, P ₄ Point coordinate is (X) _select ，Y _end ）。

Specifically, to ensure the initial course constraint, the second first sampling point P of the fourth-order Bezier curve ₁ Need to be arranged at P ₀ In the direction of travel of the point, i.e. P ₁ The longitudinal coordinate of the point is 0, so P ₁ The coordinates of the point may be expressed as (0.5 × 0.618 × X) _select 0), fourth first sample point P of a fourth order Bezier curve to guarantee end point constraints ₃ The coordinates of the point may be expressed as (0.5 × (2-0.618) × X _select ，-tan(θ)×0.5×（2-0.618）×X _select +Y _end +tan(θ)×X _select ) Where θ is the acute angle between the x' axis of the second coordinate system and the lane line, P ₂ The coordinates of the point may be expressed as 0.5 × (P) ₁ +P ₃ )。

From this, a plurality of lateral avoidance trajectories representing lateral movement distances of the vehicle can be determined:

P ₁ (a)=P ₁₀ (1-a) ⁴ +4P ₁₁ (1-a) ³ a+6P ₁₂ (1-a) ² a ² +4P ₁₃ (1-a)a ³ +P ₁₄ a ⁴ ；

P ₂ (a)=P ₂₀ (1-a) ⁴ +4P ₂₁ (1-a) ³ a+6P ₂₂ (1-a) ² a ² +4P ₂₃ (1-a)a ³ +P ₂₄ a ⁴ ；

……

P _n (a)=P _n0 (1-a) ⁴ +4P _n1 (1-a) ³ a+6P _n2 (1-a) ² a ² +4P _n3 (1-a)a ³ +P _n4 a ⁴ 。

wherein, P ₁₀ The points represent the coordinates of the starting point in the first initial avoidance trajectory, P ₁₁ Dot representationCoordinates, P, of a first sample point in a first initial avoidance trajectory ₁₄ The point represents the terminal coordinate in the first initial avoidance trajectory, and so on, P _n0 The point represents the coordinate of the starting point in the nth initial avoidance track, P _n1 The point represents the coordinate of the first sampling point in the nth initial avoidance trajectory, P _n4 The point represents the terminal point coordinate in the nth initial avoidance trajectory. On the premise of not considering collision, the first initial avoidance track is the optimal initial avoidance track, and the nth initial avoidance track is the worst initial avoidance track.

Determining a longitudinal avoidance track for indicating the longitudinal moving distance of the vehicle according to the first speed information and the AEB information in the first information of the vehicle, specifically, if the AEB function is in an on state, the longitudinal avoidance track is x (t) = d ₀ +d ₁ t+d ₂ t ² +d ₃ t ³ Wherein d is ₀ 、d ₁ 、d ₂ And d ₃ The parameter, x (t), is determined by the AEB function, and t represents a time parameter. If the AEB function is in the OFF state, then the speed V of the vehicle is used _ego And acceleration or deceleration a of the vehicle _ego Determining a longitudinal avoidance trajectory x (t) when V _ego +a _ego t>0, then x (t) = V is determined _ego +0.5×a _ego t ² When V is _ego +a _ego t =0, then x (t) = V is determined _ego +0.5×a _ego t _end ² Wherein, t _end =V _ego /a _ego 。

According to many horizontal dodges the orbit and vertically dodge the orbit, can determine the horizontal and vertical dodge orbit of vehicle, also many initial dodge orbits:

P ₁ (b)=P ₁₀ (1-b) ⁴ +4P ₁₁ (1-b) ³ b+6P ₁₂ (1-b) ² b ² +4P ₁₃ (1-b)b ³ +P ₁₄ b ⁴ ，x(t)；

P ₂ (b)=P ₂₀ (1-b) ⁴ +4P ₂₁ (1-b) ³ b+6P ₂₂ (1-b) ² b ² +4P ₂₃ (1-b)b ³ +P ₂₄ b ⁴ ，x(t)；

……

P _n (b)=P _n0 (1-b) ⁴ +4P _n1 (1-b) ³ b+6P _n2 (1-b) ² b ² +4P _n3 (1-b)b ³ +P _n4 b ⁴ ,x(t)。

wherein, b 1013]Parameter, P, representing a fourth order Bezier curve ₁₀ The points represent the coordinates of the starting point in the first initial avoidance trajectory, P ₁₁ The point represents the coordinate of a first sample point in a first initial trajectory of avoidance, P ₁₄ The point represents the terminal coordinate in the first initial avoidance trajectory, and so on, P _n0 The point represents the coordinate of the starting point in the nth initial avoidance track, P _n1 The point represents the coordinate of the first sampling point in the nth initial avoidance trajectory, P _n4 The point represents the terminal point coordinate in the nth initial avoidance trajectory. It is understood that the plurality of initial avoidance trajectories are all located in an avoidance zone.

Optionally, in step S104, performing collision detection on a plurality of initial avoidance tracks to obtain a target avoidance track may include the following steps:

step S104a, determining a plurality of sampling points in the plurality of initial avoidance tracks according to a preset time interval.

Sampling points are taken from each initial avoidance track in the multiple initial avoidance tracks according to preset time intervals, the sampling points are recorded as second sampling points, and collision detection is carried out on the corresponding second sampling points at each preset time interval in preset time duration. For example, taking the first initial avoidance trajectory as an example, taking 0.1 second as a preset time interval to obtain second sampling points, and sampling for a total duration of 3 seconds, that is, the preset duration is 3 seconds, then performing collision detection on a corresponding second sampling point every 0.1 second in the first initial avoidance trajectory.

And step S104b, performing collision detection on the plurality of sampling points to obtain a plurality of target sampling points.

The target sampling points are used for representing sampling points at which the vehicle and the obstacle do not collide.

As shown in fig. 4, fig. 4 is a schematic diagram of collision detection according to one embodiment of the present invention, and when collision detection is performed on a plurality of second sampling points, a vehicle is approximately represented by two circles, and an obstacle is approximately represented by one circle. Wherein, according to the first shape information and the second shape information, the radius of the front semicircle of the vehicle can be determined to be R _f The radius of the rear half circle of the vehicle is R _b The radius of the obstacle circle is R ₀ Center position (x) of the obstacle circle ₀ ，y ₀ ）。

Determining the circle center position (x) of the front semicircle according to the first shape information of the vehicle at each second sampling point _f (t)，y _f (t)), and the center position (x) of the rear semicircle _b (t)，y _b (t)), determining the distance between the center of the front semicircle and the center of the obstacle circle according to the center position of the front semicircle, the center position of the rear semicircle and the center position of the obstacle circle

And the distance between the center of the rear semicircle and the center of the obstacle circle

。

Specifically, when performing collision detection on the second sampling point, if S is determined _f <R _f +R ₀ Or S _b <R _b +R ₀ And determining that the second sampling point has collision risk, and discarding the initial avoidance track where the second sampling point is located. If it is determined S _f >R _f +R ₀ Or S _b >R _b +R ₀ And determining that the second sampling point has no collision risk, namely determining the second sampling point as a target sampling point.

And performing collision detection on the second sampling point of each initial avoidance track to determine a plurality of target sampling points.

And step S104c, screening the plurality of initial avoidance tracks according to the plurality of target sampling points to obtain target avoidance tracks.

And all sampling points in the target avoidance track are target sampling points.

And screening a plurality of initial avoidance tracks through a plurality of target sampling points, selecting the initial avoidance tracks without collision risks of all second sampling points, and determining the initial avoidance tracks as the target avoidance tracks. Therefore, all second sampling points in the target avoiding track are target sampling points, namely, no collision risk exists, and the vehicle can be ensured to safely avoid the barrier.

It can be understood that if the target avoidance trajectory cannot be screened, it indicates that there is no avoidance trajectory that can ensure that the vehicle safely avoids the obstacle.

Optionally, in step S105, determining a torque compensation value according to the first information and the target avoidance trajectory may include performing the following steps:

and step S105a, determining the target position information of the vehicle according to the first information.

The target position information is used for representing the position information of the vehicle running according to the target avoiding track.

When the vehicle steers according to the target avoidance track, the target position information of the vehicle in the target avoidance track is determined according to the first position information in the first information, namely the position of the vehicle running in the target avoidance track.

And S105b, responding to the situation that the target position information is located in a first preset range or a second preset range of the target avoidance track, and determining a torque compensation value according to the first information and a proportional, integral and differential control method.

The first preset range is used for indicating that the steering wheel of the vehicle is in a forward torque application stage, and the second preset range is used for indicating that the steering wheel is in a reverse torque application stage.

As shown in fig. 5, fig. 5 is a schematic diagram of a torque compensation state according to an embodiment of the present invention, and a first stage of avoidance for avoiding an obstacle is defined between a dashed line a and a dashed line B, which can be understood as a stage of turning the steering wheel in a forward direction, i.e., applying a torque to the steering wheel in the forward direction, wherein the forward direction is the same as the avoidance direction of the vehicle. Between the dashed line B and the dashed line C is a second avoidance phase for the driver to avoid the obstacle, which may be understood as a phase in which the steering wheel is turned in the reverse direction, i.e. a torque is applied to the steering wheel in the reverse direction, i.e. a steering wheel return phase, in which the forward direction is opposite to the reverse direction.

The fact that the target position information is located in the first preset range of the target avoidance track can be understood as that the vehicle is in the first avoidance stage, and the fact that the target position information is located in the second preset range of the target avoidance track can be understood as that the vehicle is in the second avoidance stage. The torque compensation method provided by the embodiment of the invention can assist the driver to steer the vehicle according to the target avoidance track in the first avoidance stage and assist the driver to return the vehicle in the second avoidance stage.

Therefore, when the vehicle is determined to be in the first preset range or the second preset range, that is, the torque compensation needs to be performed on the vehicle, the vehicle needs to be assisted to travel according to the target avoidance track. Specifically, the torque compensation value required for assistance is determined according to a proportional, integral, and derivative (PID) control method.

And S105c, in response to the target position information being in a third preset range of the target avoidance track, determining that the torque compensation value is zero.

Wherein the third preset range is used for indicating that the steering wheel is in a phase of torque direction change.

As shown in fig. 5, the timing corresponding to the broken line B may be understood as a timing at which the steering wheel direction is switched from the forward direction to the reverse direction, that is, a timing at which the torque is applied to the steering wheel from the forward direction to the reverse direction.

The fact that the target position information is located in the third preset range of the target avoidance track can be understood as that the vehicle is in the above-mentioned phase of the torque direction change. Since torque compensation is not required for the vehicle in this phase of torque direction change, the torque compensation value is determined to be zero when the steering wheel of the vehicle is in the phase of torque direction change.

Alternatively, in step S105b, determining the torque compensation value according to the first information and the proportional, integral, and derivative control method may include performing the steps of:

step S105b1, a target torque value is determined according to the proportional, integral, and derivative control method.

Step S105b2, determining the steering wheel torque of the vehicle according to the first information.

Step S105b3, in response to the target torque value being greater than the steering wheel torque, determining the torque compensation value as a difference between the target torque value and the steering wheel torque.

Step S105b4, in response to the target torque value being equal to or less than the steering wheel torque, determines the torque compensation value to be zero.

The target torque value is used for representing a torque value required by the vehicle to avoid the obstacle, and the steering wheel torque is used for representing a torque value of the vehicle running according to the target avoiding track.

The target torque value T required by the vehicle running according to the target avoiding track can be determined according to the PID control method _ref I.e. representing the target torque value T required for the vehicle to safely avoid an obstacle _ref . Determining a steering wheel torque value T of the vehicle when the vehicle runs according to the target avoidance track according to the steering wheel information in the first information _d . If the target torque value T _ref Greater than steering wheel torque T _d Then, the torque compensation value is determined to be T _com =T _ref -T _d . If the target torque value T _ref Torque T of steering wheel or less _d Then, the torque compensation value is determined to be T _com =0。

It will be appreciated that if the torque compensation value is T _com If the torque compensation value is T, the torque direction is the same as the torque direction of the vehicle in the first avoidance stage _com A negative value indicates that the direction of the torque is opposite to the direction of the torque when the vehicle is in the first avoidance phase.

Specifically, the third information further includes travelable region information. See the description of step S101, which is not repeated herein.

Fig. 6 is a schematic diagram of a system according to an embodiment of the present invention, which may be a system for performing the torque compensation method according to the embodiment of the present invention. The system comprises an analysis module and a torque compensation and decision module, wherein the analysis module comprises a steering intention judgment module, a steering path judgment module and a target path confirmation module, and the system can output a torque compensation value and decision information for assisting the vehicle in steering according to vehicle information, obstacle information and lane line information or road edge information. Specifically, the steering intention determination module is configured to execute the above steps S102, S102a and S102b, determine the steering intention of the driver through the vehicle information, the obstacle information and the surrounding road information, and determine whether torque compensation is required. The steering path judging module is used for executing the steps S103, S103a, S103b and S103c, and determining a plurality of initial avoidance tracks according to the vehicle information, the obstacle information and the surrounding road information. The target path confirmation module is configured to execute the steps S104, S104a, S104b, and S104c, and select a target avoidance trajectory from the plurality of initial avoidance trajectories. The torque compensation and decision module is used for executing the steps S105, S105a, S105b, S105c, S105b1, S105b2, S105b3 and S105b4, and outputting a corresponding decision result and determining a proper torque compensation value to compensate by combining the position of the vehicle in the target avoidance trajectory.

Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.

In this embodiment, a torque compensation device is further provided, which is used for implementing the above embodiments and preferred embodiments, and the details are not repeated. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.

Fig. 7 is a block diagram of a torque compensation apparatus according to an embodiment of the present invention, as shown in fig. 7, exemplified by a torque compensation apparatus 700, which includes: an obtaining module 701, configured to obtain first information of a vehicle, second information of an obstacle, and third information of a road; a determining module 702, configured to determine an avoidance direction according to the first information, the second information, and the third information; the determining module 702 is further configured to determine a plurality of initial avoidance tracks according to the first information, the second information, the third information, and the avoidance direction; the detection module 703 is configured to perform collision detection on multiple initial avoidance tracks to obtain target avoidance tracks; and the compensation module 704 is used for determining a torque compensation value according to the first information and the target avoidance trajectory.

Optionally, the determining module 702 is further configured to determine the driving behavior of the vehicle according to the first information, the second information, and the third information; and determining that the transverse moving direction of the vehicle is an avoidance direction in response to the driving behavior meeting a preset condition, wherein the preset condition is used for indicating that the vehicle has a behavior of avoiding the obstacle.

Optionally, the determining module 702 is further configured to determine an avoidance area according to the first information, the second information, and the third information, where the avoidance area is used to indicate that the vehicle avoids a driving area of the obstacle; determining avoidance position information according to the first information and the avoidance area, wherein the avoidance position information is used for indicating position information of the vehicle after avoiding the obstacle; and determining a plurality of initial avoidance tracks according to the first information and the avoidance position information, wherein the plurality of initial avoidance tracks are positioned in an avoidance area.

Optionally, the detection module 703 is further configured to determine a plurality of sampling points in the plurality of initial avoidance tracks according to a preset time interval; performing collision detection on the plurality of sampling points to obtain a plurality of target sampling points, wherein the target sampling points are used for representing the sampling points at which the vehicle and the obstacle do not collide; and screening the plurality of initial avoidance tracks according to the plurality of target sampling points to obtain target avoidance tracks, wherein the sampling points in the target avoidance tracks are all target sampling points.

Optionally, the compensation module 704 is further configured to determine target position information of the vehicle according to the first information, where the target position information is used to represent position information of the vehicle traveling according to the target avoidance track; in response to the target position information being located in a first preset range and a second preset range of the target avoidance track, determining a torque compensation value according to the first information and a proportional, integral and derivative control method, wherein the first preset range is used for indicating that a steering wheel of the vehicle is in a forward torque application stage, and the second preset range is used for indicating that the steering wheel is in a reverse torque application stage; and determining the torque compensation value to be zero in response to the target position information being in a third preset range of the target avoidance track, wherein the third preset range is used for indicating that the steering wheel is in a torque direction change stage.

Optionally, the compensation module 704 is further configured to determine a target torque value according to a proportional, integral and derivative control method, wherein the target torque value is used to represent a torque value required by the vehicle to avoid the obstacle; determining the steering wheel torque of the vehicle according to the first information, wherein the steering wheel torque is used for representing the torque value of the vehicle for driving according to the target avoidance track; in response to the target torque value being greater than the steering wheel torque, determining a torque compensation value as a difference between the target torque value and the steering wheel torque; in response to the target torque value being less than or equal to the steering wheel torque, the torque compensation value is determined to be zero.

It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.

An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored therein, wherein the computer program is configured to perform the steps of any of the above method embodiments when the computer program runs on a computer or a processor.

Alternatively, in the present embodiment, the above-mentioned computer-readable storage medium may be configured to store a computer program for executing the steps of:

s1, acquiring first information of a vehicle, second information of an obstacle and third information of a road;

s2, determining an avoidance direction according to the first information, the second information and the third information;

s3, determining a plurality of initial avoidance tracks according to the first information, the second information, the third information and the avoidance direction;

s4, performing collision detection on the plurality of initial avoidance tracks to obtain target avoidance tracks;

and S5, determining a torque compensation value according to the first information and the target avoidance track.

Optionally, in this embodiment, the computer-readable storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.

Embodiments of the present invention also provide an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to perform the steps of any of the above method embodiments.

Optionally, in this embodiment, the processor in the electronic device may be configured to run the computer program to perform the following steps:

s4, performing collision detection on the multiple initial avoidance tracks to obtain target avoidance tracks;

Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be an indirect coupling or communication connection through some interfaces, units or modules, and may be electrical or in other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention.

Claims

1. A method of torque compensation, comprising:

acquiring first information of a vehicle, second information of an obstacle and third information of a road, wherein the road comprises the road where the vehicle is located;

determining an avoidance direction according to the first information, the second information and the third information, wherein the avoidance direction is a transverse moving direction of the vehicle, and the transverse moving direction is a direction perpendicular to a forward direction of the vehicle;

determining a plurality of initial avoidance tracks according to the first information, the second information, the third information and the avoidance direction, wherein the avoidance tracks are used for representing the moving tracks of the vehicle avoiding the obstacle;

performing collision detection on the multiple initial avoidance tracks to obtain target avoidance tracks;

determining a torque compensation value according to the first information and the target avoidance track, wherein the torque compensation value is used for assisting the vehicle to steer;

wherein the determining an avoidance direction according to the first information, the second information, and the third information comprises: determining the driving behavior of the vehicle according to the first information, the second information and the third information;

determining that the transverse moving direction of the vehicle is the avoidance direction in response to the driving behavior meeting a preset condition, wherein the preset condition is used for indicating that the vehicle has a behavior of avoiding the obstacle, the preset condition is determined according to collision time between the vehicle and the obstacle, a collision time threshold, steering wheel torque of the vehicle, a steering wheel torque threshold, steering wheel rotating speed of the vehicle, a steering wheel rotating speed threshold, fourth information and fifth information, the fourth information is a relation between an off state of a steering lamp of the vehicle or an indication direction of the steering lamp and the transverse moving direction of the vehicle, and the fifth information is whether the obstacle exists in a target lane or a target area to which the vehicle intends to steer.

2. The method of claim 1, wherein said determining a plurality of initial avoidance trajectories based on the first information, the second information, the third information, and the avoidance direction comprises:

determining an avoidance area according to the first information, the second information and the third information, wherein the avoidance area is used for showing a driving area of the vehicle for avoiding the obstacle;

determining avoidance position information according to the first information and the avoidance area, wherein the avoidance position information is used for indicating position information of the vehicle after avoiding the obstacle;

and determining the initial avoidance tracks according to the first information and the avoidance position information, wherein the initial avoidance tracks are located in the avoidance area.

3. The method according to claim 1, wherein the performing collision detection on the plurality of initial avoidance tracks to obtain a target avoidance track comprises:

determining a plurality of sampling points in the plurality of initial avoidance tracks according to a preset time interval;

performing collision detection on the plurality of sampling points to obtain a plurality of target sampling points, wherein the target sampling points are used for representing sampling points at which the vehicle does not collide with the obstacle;

and screening the plurality of initial avoidance tracks according to the plurality of target sampling points to obtain the target avoidance tracks, wherein the sampling points in the target avoidance tracks are the target sampling points.

4. The method of claim 1, wherein determining a torque compensation value based on the first information and the target avoidance trajectory comprises:

determining target position information of the vehicle according to the first information, wherein the target position information is used for representing position information of the vehicle running according to the target avoidance track;

in response to the target position information being in a first preset range or a second preset range of the target avoidance track, determining the torque compensation value according to the first information and a proportional, integral and derivative control method, wherein the first preset range is used for indicating that a steering wheel of the vehicle is in a forward torque application stage, and the second preset range is used for indicating that the steering wheel is in a reverse torque application stage;

and determining the torque compensation value to be zero in response to the target position information being in a third preset range of the target avoidance track, wherein the third preset range is used for indicating that the steering wheel is in a phase of torque direction change.

5. The method of claim 4, wherein the determining the torque compensation value from the first information and a proportional, integral, and derivative control method comprises:

determining a target torque value according to the proportional, integral and derivative control method, wherein the target torque value is used for representing a torque value required by the vehicle to avoid the obstacle;

determining a steering wheel torque of the vehicle according to the first information, wherein the steering wheel torque is used for representing a torque value of the vehicle running according to the target avoidance track;

in response to the target torque value being greater than the steering wheel torque, determining the torque compensation value as a difference between the target torque value and the steering wheel torque;

determining the torque compensation value to be zero in response to the target torque value being less than or equal to the steering wheel torque.

6. The method of claim 1, wherein the first information includes first position information, first speed information, first shape information, automatic emergency braking information, steering wheel information, and turn signal information of the vehicle, the second information includes second position information, second speed information, and second shape information of the obstacle, and the third information includes description information of the road, the description information including lane line information or curb information.

7. A torque compensating device, comprising:

the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring first information of a vehicle, second information of an obstacle and third information of a road, and the road comprises the road where the vehicle is located;

a determining module, configured to determine an avoidance direction according to the first information, the second information, and the third information, where the avoidance direction is a lateral moving direction of the vehicle, and the lateral moving direction is a direction perpendicular to a forward direction of the vehicle;

the determining module is further configured to determine a plurality of initial avoidance tracks according to the first information, the second information, the third information and the avoidance direction, where the avoidance tracks are used to indicate moving tracks of the vehicle for avoiding the obstacle;

the detection module is used for carrying out collision detection on the multiple initial avoidance tracks to obtain target avoidance tracks;

the compensation module is used for determining a torque compensation value according to the first information and the target avoidance track, wherein the torque compensation value is used for assisting the vehicle to steer;

the determination module is further to: determining the driving behavior of the vehicle according to the first information, the second information and the third information; determining that the transverse moving direction of the vehicle is the avoidance direction in response to that the driving behavior meets a preset condition, wherein the preset condition is used for representing the behavior of avoiding the obstacle in the vehicle, the preset condition is determined according to collision time between the vehicle and the obstacle, a collision time threshold, steering wheel torque of the vehicle, a steering wheel torque threshold, steering wheel rotating speed of the vehicle, a steering wheel rotating speed threshold, fourth information and fifth information, the fourth information is a relation between an off state of a steering lamp of the vehicle or an indication direction of the steering lamp and the transverse moving direction of the vehicle, and the fifth information is whether the obstacle exists in a target lane or a target area to which the vehicle intends to steer.

8. A computer-readable storage medium, in which a computer program is stored, wherein the computer program is arranged to perform a torque compensation method as claimed in any one of the preceding claims 1 to 6 when run on a computer or a processor.

9. An electronic device comprising a memory and a processor, wherein the memory has stored therein a computer program, and wherein the processor is arranged to execute the computer program to perform the torque compensation method of any of the preceding claims 1 to 6.